Intelligent inspection system for transformer substation

Abstract

The invention provides an intelligent substation inspection system, which belongs to the technical field of power management and comprises an acquisition module, an inspection robot acquisition module and an inspection module, and is characterized in that the inspection robot acquires equipment operation data of a substation based on a preset inspection path; the acquisition module is used for acquiring a historical operation report of the transformer substation and acquiring real-time environment data of the transformer substation in real time; the communication module is used for transmitting the acquired equipment operation data and the acquired real-time environment data to a system center; the analysis module is used for analyzing the equipment operation data and the real-time environment data by the system center and generating a real-time operation report; and the system center sends out early warning information based on the real-time operation report, and maintenance personnel overhaul or maintain the transformer substation based on the early warning information. The accuracy and comprehensiveness of equipment operation data can be improved, the maintenance timeliness and pertinence are improved, the manual inspection burden and inspection errors are reduced, equipment faults are effectively avoided, the intelligence and stability of the system are improved, and the operation and maintenance efficiency and safety of the transformer substation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power management, and in particular to an intelligent inspection system for a substation. Background Art

[0002] Most existing substation inspection technologies rely on manual inspections, where inspectors regularly visit the site to check the operating status of the equipment, manually record the equipment operating data, and perform fault detection. This method is inefficient, labor-intensive, and easily affected by human factors. The data records are not accurate enough, especially when facing large-scale substations, making it difficult to monitor and detect potential faults in real time. In addition, the manual inspection cycle is long, and it is impossible to achieve real-time monitoring of the equipment operating status, which can easily miss the opportunity for early fault warning, resulting in equipment damage or reduced operating efficiency.

[0003] Therefore, the present invention provides a substation intelligent inspection system. Summary of the invention

[0004] The present invention provides a substation intelligent inspection system, which is used to transmit the collected equipment operation data and the acquired real-time environmental data to the system center, and the system center analyzes the equipment operation data and the real-time environmental data to generate a real-time operation report, and issues early warning information according to the real-time operation report to carry out inspection or maintenance. The accuracy and comprehensiveness of the equipment operation data are improved, the timeliness and pertinence of maintenance work are improved, the burden of manual inspection and inspection errors are reduced, equipment failures are effectively avoided, the intelligence and stability of the system are improved, and the operation and maintenance efficiency and safety of the substation are improved.

[0005] The present invention provides a substation intelligent inspection system, comprising: Collection module: The inspection robot collects equipment operation data of the substation based on the preset inspection path; Acquisition module: obtains historical operation reports of substations and collects real-time environmental data of substations; Communication module: transmits the collected equipment operation data and acquired real-time environmental data to the system center; Analysis module: The system center analyzes equipment operation data and real-time environmental data to generate real-time operation reports; Early warning module: The system center issues early warning information based on real-time operation reports, and maintenance personnel inspect or repair the substation based on the early warning information.

[0006] According to a substation intelligent inspection system provided by the present invention, the acquisition module includes: Inspection sequence unit: determines the equipment inspection sequence based on the equipment association data of the substation, wherein the equipment association data of the substation includes the association relationship between each equipment of the substation and all other equipment; Preset inspection path unit: determines the preset inspection path of the inspection robot based on the equipment inspection sequence and the equipment distribution of the substation; Control unit: The system center controls the inspection robot to travel along the preset inspection path; Sub-operation data unit: The inspection robot is equipped with a variety of sensors to collect sub-operation data of each device in the substation along the preset inspection path; Equipment operation data unit: determines the equipment operation data of the substation based on the sub-operation data of all equipment in the substation and the equipment inspection sequence.

[0007] According to a substation intelligent inspection system provided by the present invention, the control unit comprises: Preset deviation path length subunit: determines the preset deviation path length based on the preset inspection path and the equipment distribution of the substation; The designated time period subunit is used to determine the designated time period of the inspection robot based on the driving speed of the inspection robot and the preset deviation path length; Actual deviation path length subunit: The system center compares the actual driving path of the inspection robot with the preset inspection path at every specified time period, and determines whether there is an actual deviation path based on the comparison result. If there is an actual deviation path, the actual deviation path length is determined; Judgment subunit: If the inspection robot does not actually deviate from the path, the system center controls the inspection robot to continue to drive along the preset inspection path; If the inspection robot actually deviates from the path, and the actual deviation path length is not greater than the preset deviation path length, the system center adjusts the driving angle of the inspection robot and continues to drive along the preset inspection path; If the inspection robot actually deviates from the path, and the actual deviation path length is greater than the preset deviation path length, the system center controls the inspection robot to first return to the preset inspection path, and then continue to drive along the preset inspection path.

[0008] According to a substation intelligent inspection system provided by the present invention, the acquisition module includes: Real-time sub-environment data unit: The substation is equipped with a variety of environmental detection sensors, and the real-time sub-environment data of the substation is collected in real time based on each environmental detection sensor; Real-time environment data unit: determines real-time environment data based on real-time sub-environment data of all kinds of environment detection sensors.

[0009] According to a substation intelligent inspection system provided by the present invention, the analysis module includes: Preprocessing unit: preprocessing the sub-operation data of each device in the device operation data to obtain the preprocessed device operation data, and at the same time, preprocessing the real-time sub-environmental data of each environment detection sensor in the real-time environment data; A first operation vector unit: determining a first operation vector of each device based on the preprocessed sub-operation data of each device, and determining a first operation vector dimension of each device; A vector dimension threshold unit: determining a vector dimension threshold based on the first running vector dimensions of all devices; The second operation vector unit: compares the first vector dimension of each device with the vector dimension threshold, upgrades the dimension of the device corresponding to the first operation vector whose first operation vector dimension is smaller than the vector dimension threshold, and determines the second operation vector of the device corresponding to the first operation vector whose first operation vector dimension is smaller than the vector dimension threshold; Performing dimensionality reduction on a device corresponding to a first operation vector whose first operation vector dimension is greater than a vector dimension threshold, and determining a second operation vector of the device corresponding to the first operation vector whose first operation vector dimension is greater than the vector dimension threshold; An operation fault value unit: determining an operation fault value of each device based on the second operation vectors of all devices; Environmental fitting value unit: analyzing the real-time sub-environmental data of each sensor in the pre-processed real-time environmental data, and determining the environmental fitting value of each sensor; Predicted fault value unit: determines the predicted fault value of each device based on the operating fault value of each device and the environmental fitting values ​​of all types of sensors; Real-time operation report unit: Generates real-time operation reports based on pre-processed equipment operation data and predicted fault values ​​of all equipment.

[0010] According to a substation intelligent inspection system provided by the present invention, the operation fault value unit includes: in, represents the first sub-operation fault value of the i-th device, represents the running value of the kth dimension of the second running vector of the i-th device, represents the running value of the nth dimension of the second running vector of the i-th device, A relationship function between the operating value of the kth dimension and the operating value of the nth dimension of the second operating vector of the i-th device, represents the first weight of the running value of the k-th dimension of the second running vector, represents the second weight between the running value of the kth dimension and the running value of the nth dimension of the second running vector, N1 represents the vector dimension threshold, represents the second sub-operation fault value of the i-th device, represents the interaction weight between the i-th device and the j-th device, represents the interaction weight between the jth device and the pth device, represents the first sub-operation fault value of the j-th device, represents the first sub-operation fault value of the p-th device, iN2 represents the number of devices that have direct fault impact on the i-th device, represents the number of devices that have an indirect fault impact on the ith device through the jth device, represents the direct fault value of the jth device causing the ith device, It indicates the first indirect fault value of the pth device indirectly causing the ith device through the jth device. represents the adjustment parameters, represents the second indirect fault value of the i-th device, represents the operating fault value of the i-th device, represents the weight based on the first sub-run fault value, represents the weight based on the fault value of the second sub-run, represents a weight based on both the first sub-run fault value and the second sub-run fault value.

[0011] According to a substation intelligent inspection system provided by the present invention, the predicted fault value unit includes: Environmental threshold subunit: determines the first environmental threshold and the second environmental threshold based on the historical operation report of the substation; Predicted fault value subunit: determines the predicted fault value of each device based on the operating fault value of each device, the environmental fitting values ​​of all types of sensors, the first environmental threshold and the second environmental threshold; in, represents the predicted failure value of the i-th device, represents the impact factor of the environmental fitting value of the mth sensor on the i-th device, represents the environmental fitting value of the i-th sensor, N3 represents the number of types of environmental sensors, represents the first environmental threshold, Indicates the second environmental threshold.

[0012] According to a substation intelligent inspection system provided by the present invention, the early warning module includes: Threshold unit: determining a first fault threshold, a second fault threshold, a third fault threshold and a warning quantity threshold based on a historical operation report of the substation; Early warning information includes primary warning and warning information, intermediate alarm and warning information, and advanced alarm and emergency plan; Early warning unit: no early warning is issued for devices whose predicted fault values ​​in the real-time operation report are lower than the first fault threshold, a primary warning is issued for devices whose predicted fault values ​​in the real-time operation report are between the first fault threshold and the second fault threshold, an intermediate alarm is issued for devices whose predicted fault values ​​in the real-time operation report are between the second fault threshold and the third fault threshold, and an advanced alarm is issued for devices whose predicted fault values ​​in the real-time operation report are higher than the third fault threshold; Maintenance unit: When the number of primary warnings issued by the system exceeds the warning number threshold, maintenance personnel will perform maintenance on all devices that issue primary warnings based on all warning information; Maintenance unit: When the system issues an intermediate alarm, maintenance personnel will repair the equipment that issued the alarm in the substation based on the early warning information; Emergency maintenance unit: When the system issues a high-level alarm, maintenance personnel will perform emergency maintenance on the equipment that has issued the alarm in the substation based on the emergency plan.

[0013] Compared with the prior art, the present invention has the following beneficial effects: By transmitting the collected equipment operation data and the acquired real-time environmental data to the system center, the system center analyzes the equipment operation data and real-time environmental data, generates a real-time operation report, and issues early warning information based on the real-time operation report for inspection or repair. This can improve the accuracy and comprehensiveness of equipment operation data, improve the timeliness and pertinence of maintenance work, reduce the burden of manual inspections and inspection errors, effectively avoid equipment failures, improve the intelligence and stability of the system, and improve the efficiency and safety of substation operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a structural schematic diagram of a substation intelligent inspection system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Embodiment 1: The embodiment of the present invention provides a substation intelligent inspection system, such as Figure 1 As shown, including: Collection module: The inspection robot collects equipment operation data of the substation based on the preset inspection path; Acquisition module: obtains historical operation reports of substations and collects real-time environmental data of substations; Communication module: transmits the collected equipment operation data and acquired real-time environmental data to the system center; Analysis module: The system center analyzes equipment operation data and real-time environmental data to generate real-time operation reports; Early warning module: The system center issues early warning information based on real-time operation reports, and maintenance personnel inspect or repair the substation based on the early warning information.

[0018] In this embodiment, the collection module is executed by a patrol robot. The robot regularly patrols the equipment in the substation along a preset patrol path and automatically collects the operating data of the equipment.

[0019] In this embodiment, the acquisition module extracts the historical operation data of the equipment from the substation database, and acquires the environmental data of the substation in real time through the arranged sensors.

[0020] In this embodiment, the communication module is used for data transmission. The equipment operation data collected by the inspection robot and the environmental data collected by the sensor are transmitted to the system center through the communication module. The module can use communication means such as wireless networks, local area networks or optical fibers to ensure that data is transmitted under efficient and secure conditions, ensuring that the system center can receive the latest data in real time.

[0021] In this embodiment, after the system center receives the operation data and environmental data of the device, the analysis module performs a comprehensive analysis on these data. After the analysis, the system center generates a real-time operation report.

[0022] The beneficial effects of the above technical solution are as follows: by transmitting the collected equipment operation data and the acquired real-time environmental data to the system center, the system center analyzes the equipment operation data and the real-time environmental data, generates a real-time operation report, and issues early warning information based on the real-time operation report for inspection or maintenance. This can improve the accuracy and comprehensiveness of the equipment operation data, improve the timeliness and pertinence of maintenance work, reduce the burden of manual inspections and inspection errors, effectively avoid equipment failures, improve the intelligence and stability of the system, and improve the efficiency and safety of substation operation and maintenance.

[0023] Embodiment 2: An embodiment of the present invention provides a substation intelligent inspection system, wherein the acquisition module comprises: Inspection sequence unit: determines the equipment inspection sequence based on the equipment association data of the substation, wherein the equipment association data of the substation includes the association relationship between each equipment of the substation and all other equipment; Preset inspection path unit: determines the preset inspection path of the inspection robot based on the equipment inspection sequence and the equipment distribution of the substation; Control unit: The system center controls the inspection robot to travel along the preset inspection path; Sub-operation data unit: The inspection robot is equipped with a variety of sensors to collect sub-operation data of each device in the substation along the preset inspection path; Equipment operation data unit: determines the equipment operation data of the substation based on the sub-operation data of all equipment in the substation and the equipment inspection sequence.

[0024] In this embodiment, the inspection sequence unit determines the inspection priority based on the association data between the various devices in the substation. These data include the mutual influence between the devices, the working logic relationship and the maintenance history, etc., which helps to arrange the inspection tasks reasonably to ensure that important or closely related equipment can be inspected in sequence.

[0025] In this embodiment, the preset inspection path unit combines the inspection sequence of the equipment and the actual distribution of the equipment in the substation to generate a preset inspection path for the inspection robot. This path design aims to reduce the robot's movement time and energy consumption, improve inspection efficiency, and ensure that each device can be effectively inspected.

[0026] In this embodiment, the system center is responsible for controlling the inspection robot to ensure that it travels along a preset inspection path. The control unit needs to monitor the position and status of the robot in real time so as to make adjustments when necessary to ensure the smooth completion of the inspection task.

[0027] In this embodiment, the inspection robot is equipped with a variety of sensors to collect sub-operation data of each device along a preset path. These data may include parameters such as power, voltage, vibration, sound waves, and status, providing original information for subsequent equipment operation fault analysis.

[0028] In this embodiment, the equipment operation data unit integrates the sub-operation data of all equipment according to the inspection sequence to determine the equipment operation data of the entire substation, which reflects the status of each equipment.

[0029] The beneficial effects of the above technical solution are as follows: the inspection robot collects equipment operation data of the substation based on the preset inspection path, and can reasonably plan the inspection path, thereby improving the accuracy and comprehensiveness of data collection, reducing the risk of missed equipment inspections or delayed detection of abnormalities, and improving the operation and maintenance efficiency and safety of the substation.

[0030] Embodiment 3: An embodiment of the present invention provides a substation intelligent inspection system, wherein the control unit comprises: Preset deviation path length subunit: determines the preset deviation path length based on the preset inspection path and the equipment distribution of the substation; The designated time period subunit is used to determine the designated time period of the inspection robot based on the driving speed of the inspection robot and the preset deviation path length; Actual deviation path length subunit: The system center compares the actual driving path of the inspection robot with the preset inspection path at every specified time period, and determines whether there is an actual deviation path based on the comparison result. If there is an actual deviation path, the actual deviation path length is determined; Judgment subunit: If the inspection robot does not actually deviate from the path, the system center controls the inspection robot to continue to drive along the preset inspection path; If the inspection robot actually deviates from the path, and the actual deviation path length is not greater than the preset deviation path length, the system center adjusts the driving angle of the inspection robot and continues to drive along the preset inspection path; If the inspection robot actually deviates from the path, and the actual deviation path length is greater than the preset deviation path length, the system center controls the inspection robot to first return to the preset inspection path, and then continue to drive along the preset inspection path.

[0031] In this embodiment, the preset deviation path length subunit determines the maximum deviation path length allowed by the inspection robot during execution (i.e., the range within which the robot is allowed to temporarily deviate from the preset path) based on the pre-designed inspection path and the distribution of substation equipment. This distance value is intended to allow the inspection robot to continue moving forward without immediate adjustment when encountering obstacles or minor errors.

[0032] In this embodiment, the designated time period subunit determines a designated time period based on the driving speed of the inspection robot and the preset deviation path length. During this period, the system regularly checks whether the robot deviates from the preset path at every designated time period. The time period is inversely proportional to the driving speed. The faster the speed, the higher the frequency of inspection to ensure that the robot can correct the deviation in time.

[0033] In this embodiment, the system center compares the actual driving path of the inspection robot with the preset inspection path at the end of each specified time period. If the inspection robot deviates from the preset path, the system will calculate the actual deviation path length to determine whether the degree of deviation exceeds the allowable range.

[0034] In this embodiment, the actual deviation path length indicates the distance that the actual driving path deviates from the preset inspection path within the corresponding specified time period when there is an actual deviation path.

[0035] In this embodiment, the system center decides the next operation based on the actual deviation length from the path: no deviation: no adjustment is required, the robot continues to drive along the preset path; deviation from the path and the deviation length is less than or equal to the preset value: the system will slightly adjust the robot's driving angle to allow it to gradually return to the preset path; deviation from the path and the deviation length is greater than the preset value: the system will first control the robot to return to the preset path, and then continue to move along the preset path. This is to ensure that the robot always remains on a safe and reasonable inspection route.

[0036] The beneficial effects of the above technical solution are as follows: the system center controls the inspection robot to travel along a preset inspection path, which can reduce inspection errors and ensure inspection efficiency, and improve the intelligence and stability of the system.

[0037] Embodiment 4: An embodiment of the present invention provides a substation intelligent inspection system, wherein the acquisition module comprises: Real-time sub-environment data unit: The substation is equipped with a variety of environmental detection sensors, and the real-time sub-environment data of the substation is collected in real time based on each environmental detection sensor; Real-time environment data unit: determines real-time environment data based on real-time sub-environment data of all kinds of environment detection sensors.

[0038] In this embodiment, various types of environmental detection sensors (such as temperature and humidity sensors, smoke sensors, air pressure sensors, light sensors, etc.) are installed in the substation. These sensors can monitor and collect local environmental data of the substation in real time. Each sensor will collect sub-environmental data related to its function, for example: the temperature sensor collects temperature sub-environmental data; the humidity sensor collects humidity sub-environmental data; the smoke sensor collects air quality sub-environmental data; these real-time sub-environmental data reflect the real-time status of various important environmental parameters in the substation, ensuring the comprehensiveness and accuracy of environmental monitoring.

[0039] In this embodiment, the real-time environmental data unit integrates and analyzes all sub-environmental data to obtain a comprehensive result. It aggregates the real-time data collected by various environmental sensors in the substation to form an integrated and comprehensive real-time environmental data. This data is not just a simple superposition of each sub-environmental data, but through certain algorithms or models, different environmental factors are correlated and analyzed, thereby accurately describing the overall environmental status of the substation.

[0040] The beneficial effects of the above technical solution are: obtaining the historical operation report of the substation and collecting the real-time environmental data of the substation in real time, which can comprehensively monitor the environmental conditions of the substation and improve the safety and operation and maintenance response speed of the substation.

[0041] Embodiment 5: An embodiment of the present invention provides a substation intelligent inspection system, wherein the analysis module comprises: Preprocessing unit: preprocessing the sub-operation data of each device in the device operation data to obtain the preprocessed device operation data, and at the same time, preprocessing the real-time sub-environmental data of each environment detection sensor in the real-time environment data; A first operation vector unit: determining a first operation vector of each device based on the preprocessed sub-operation data of each device, and determining a first operation vector dimension of each device; A vector dimension threshold unit: determining a vector dimension threshold based on the first running vector dimensions of all devices; The second operation vector unit: compares the first vector dimension of each device with the vector dimension threshold, upgrades the dimension of the device corresponding to the first operation vector whose first operation vector dimension is smaller than the vector dimension threshold, and determines the second operation vector of the device corresponding to the first operation vector whose first operation vector dimension is smaller than the vector dimension threshold; Performing dimensionality reduction on a device corresponding to a first operation vector whose first operation vector dimension is greater than a vector dimension threshold, and determining a second operation vector of the device corresponding to the first operation vector whose first operation vector dimension is greater than the vector dimension threshold; An operation fault value unit: determining an operation fault value of each device based on the second operation vectors of all devices; Environmental fitting value unit: analyzing the real-time sub-environmental data of each sensor in the pre-processed real-time environmental data, and determining the environmental fitting value of each sensor; Predicted fault value unit: determines the predicted fault value of each device based on the operating fault value of each device and the environmental fitting values ​​of all types of sensors; Real-time operation report unit: Generates real-time operation reports based on pre-processed equipment operation data and predicted fault values ​​of all equipment.

[0042] In this embodiment, the preprocessing unit is responsible for the preliminary organization and cleaning of the operation data and environmental data of the equipment, and preprocessing is performed on the sub-operation data of each device to eliminate noise, fill missing values, and ensure the accuracy of the data; at the same time, the real-time sub-environmental data of each environmental sensor in the real-time environmental data is also preprocessed accordingly to ensure the basic data quality for subsequent analysis.

[0043] In this embodiment, after preprocessing, the first operation vector unit generates a multidimensional vector called a first operation vector based on the sub-operation data of each device. This vector represents various operation indicators of the device as a mathematical structure, and its dimension reflects the complexity and richness of the data. The dimension of the first operation vector of each device represents the number of specific data features that the device can provide, and the operation value of each dimension of the first operation vector of each device represents the operation feature of the corresponding dimension of the device.

[0044] In this embodiment, the vector dimension threshold unit determines a vector dimension threshold by analyzing the first operation vector dimensions of all devices. The threshold is used to subsequently determine which devices have smaller or larger first operation vector dimensions.

[0045] In this embodiment, the second operation vector unit compares the first operation vector dimension of each device with the vector dimension threshold, and performs separate processing: for devices whose first operation vector dimension is smaller than the threshold, the system will perform dimensionality upgrade, expand its data representation capability, and form a new second operation vector; for devices whose first operation vector dimension is larger than the threshold, the system will perform dimensionality reduction, simplify its data representation, and generate a corresponding second operation vector.

[0046] In this embodiment, the environment fitting value unit analyzes the pre-processed real-time environment data and calculates the environment fitting value of each sensor. This value is used to evaluate the impact of the corresponding sensor type on the operation of the device.

[0047] In this embodiment, the real-time operation reporting unit integrates the pre-processed equipment operation data and the predicted fault values ​​of all equipment to generate a real-time operation report for management personnel to make timely decisions.

[0048] The beneficial effects of the above technical solution are as follows: the system center analyzes equipment operation data and real-time environmental data and generates real-time operation reports, which can improve the uniformity and accuracy of data, effectively avoid equipment failures, improve the data basis for issuing early warning information, improve the stability of the system, and improve the efficiency and safety of substation operation and maintenance.

[0049] Embodiment 6: An embodiment of the present invention provides a substation intelligent inspection system, wherein the operation fault value unit includes: in, represents the first sub-operation fault value of the i-th device, represents the running value of the kth dimension of the second running vector of the i-th device, represents the running value of the nth dimension of the second running vector of the i-th device, A relationship function between the operating value of the kth dimension and the operating value of the nth dimension of the second operating vector of the i-th device, represents the first weight of the running value of the k-th dimension of the second running vector, represents the second weight between the running value of the kth dimension and the running value of the nth dimension of the second running vector, N1 represents the vector dimension threshold, represents the second sub-operation fault value of the i-th device, represents the interaction weight between the i-th device and the j-th device, represents the interaction weight between the jth device and the pth device, represents the first sub-operation fault value of the j-th device, represents the first sub-operation fault value of the p-th device, iN2 represents the number of devices that have direct fault impact on the i-th device, represents the number of devices that have an indirect fault impact on the ith device through the jth device, represents the direct fault value of the jth device causing the ith device, It indicates the first indirect fault value of the pth device indirectly causing the ith device through the jth device. represents the adjustment parameters, represents the second indirect fault value of the i-th device, represents the operating fault value of the i-th device, represents the weight based on the first sub-run fault value, represents the weight based on the fault value of the second sub-run, represents a weight based on both the first sub-run fault value and the second sub-run fault value.

[0050] In this embodiment, the first operation sub-fault value is a fault value calculated according to the operation values ​​of all dimensions of the second operation vector of the corresponding device, and becomes a single device fault value of the device.

[0051] In this embodiment, the second operation sub-fault value represents the fault value of all devices directly and indirectly associated with the corresponding device causing the device to fail.

[0052] In this embodiment, the second indirect fault value represents the fault impact value of all devices in the substation except all devices that have direct fault impact on the corresponding device and all devices that have second-order indirect (indirectly through the jth device) fault impact on the corresponding device.

[0053] In this embodiment, Indicates the increase in the operation fault value when the first sub-operation fault value and the second sub-operation fault value of the corresponding device are both large.

[0054] The beneficial effect of the above technical solution is as follows: the operating fault value of each device is determined according to the second operating vector of all devices, which can improve the data basis for determining the predicted fault value of each device and effectively avoid device failure.

[0055] Embodiment 7: An embodiment of the present invention provides a substation intelligent inspection system, wherein the predicted fault value unit comprises: Environmental threshold subunit: determines the first environmental threshold and the second environmental threshold based on the historical operation report of the substation; Predicted fault value subunit: determines the predicted fault value of each device based on the operating fault value of each device, the environmental fitting values ​​of all types of sensors, the first environmental threshold and the second environmental threshold; in, represents the predicted failure value of the i-th device, represents the impact factor of the environmental fitting value of the mth sensor on the i-th device, represents the environmental fitting value of the i-th sensor, N3 represents the number of types of environmental sensors, represents the first environmental threshold, Indicates the second environmental threshold.

[0056] In this embodiment, the environmental threshold subunit obtains the first environmental threshold and the second environmental threshold by analyzing the historical operation report of the substation. The thresholds are set based on the operation history data of the substation under different environmental conditions and the failure mode of the equipment.

[0057] In this embodiment, It represents the fault addition value of the environmental fitting values ​​of all types of sensors to the i-th device when the environmental fitting values ​​of all types of sensors are greater than the second environmental threshold and less than or equal to the first environmental threshold.

[0058] In this embodiment, It represents the fault addition value of the environmental fitting values ​​of all types of sensors for the i-th device when the sum of the environmental fitting values ​​of all types of sensors is greater than the first environmental threshold and less than or equal to the second environmental threshold.

[0059] In this embodiment, It represents the fault addition value of the environmental fitting values ​​of all types of sensors for the i-th device when the sum of the environmental fitting values ​​of all types of sensors is less than or equal to the first environmental threshold.

[0060] The beneficial effects of the above technical solution are as follows: the predicted fault value of each device is determined based on the operating fault value of each device and the environmental fitting values ​​of all types of sensors, which can improve the data basis for generating real-time operation reports, further effectively avoid equipment failures, and improve system stability.

[0061] Embodiment 8: An embodiment of the present invention provides a substation intelligent inspection system, wherein the early warning module comprises: Threshold unit: determining a first fault threshold, a second fault threshold, a third fault threshold and a warning quantity threshold based on a historical operation report of the substation; Early warning information includes primary warning and warning information, intermediate alarm and warning information, and advanced alarm and emergency plan; Early warning unit: no early warning is issued for devices whose predicted fault values ​​in the real-time operation report are lower than the first fault threshold, a primary warning is issued for devices whose predicted fault values ​​in the real-time operation report are between the first fault threshold and the second fault threshold, an intermediate alarm is issued for devices whose predicted fault values ​​in the real-time operation report are between the second fault threshold and the third fault threshold, and an advanced alarm is issued for devices whose predicted fault values ​​in the real-time operation report are higher than the third fault threshold; Maintenance unit: When the number of primary warnings issued by the system exceeds the warning number threshold, maintenance personnel will perform maintenance on all devices that issue primary warnings based on all warning information; Maintenance unit: When the system issues an intermediate alarm, maintenance personnel will repair the equipment that issued the alarm in the substation based on the early warning information; Emergency maintenance unit: When the system issues a high-level alarm, maintenance personnel will perform emergency maintenance on the equipment that has issued the alarm in the substation based on the emergency plan.

[0062] In this embodiment, the threshold unit sets multiple fault thresholds based on the historical operation report of the substation to effectively monitor and manage the health status of the equipment, including: the first fault threshold: the equipment operates normally below this threshold and no attention is required; the second fault threshold: the equipment performance begins to decline and requires attention, but it can still operate normally; the third fault threshold: the equipment performance is seriously degraded and requires immediate attention, which may cause failures; warning quantity threshold: a threshold is set to determine the number of primary warnings. When the threshold is exceeded, subsequent maintenance operations are triggered.

[0063] In this embodiment, the alarm information generated by the system is divided into three levels: primary warning: indicating that there is a risk in the operation of the equipment and monitoring is required; intermediate alarm: indicating that the operation of the equipment is poor and inspection or maintenance is required; advanced alarm: indicating that the equipment is in an emergency state and immediate action is required, including emergency maintenance plans.

[0064] In this embodiment, the early warning unit classifies the equipment according to the predicted fault value and the set fault threshold: for equipment with a predicted fault value lower than the first fault threshold, no early warning is issued; for equipment with a predicted fault value between the first and second fault thresholds, a primary warning is issued; for equipment with a predicted fault value between the second and third fault thresholds, an intermediate alarm is issued; for equipment with a predicted fault value higher than the third fault threshold, a high-level alarm is issued.

[0065] In this embodiment, when the number of primary warnings exceeds the warning number threshold, maintenance personnel will check and maintain all devices that issue primary warnings based on all warning information issued by the system to ensure normal operation of the devices.

[0066] In this embodiment, when the system issues an intermediate alarm, maintenance personnel repair related equipment according to the alarm information corresponding to the intermediate alarm, aiming to prevent further deterioration of the equipment and ensure system stability.

[0067] In this embodiment, when the system issues a high-level alarm, maintenance personnel will quickly repair the alarming equipment according to the emergency plan corresponding to the high-level alarm to avoid possible greater failures or safety hazards.

[0068] The beneficial effects of the above technical solution are as follows: the system center issues early warning information based on real-time operation reports, and maintenance personnel inspect or repair substations based on the early warning information, which can improve the accuracy and comprehensiveness of equipment operation data, improve the timeliness and pertinence of maintenance work, reduce the burden of manual inspections and inspection errors, effectively avoid equipment failures, improve the intelligence and stability of the system, and improve the efficiency and safety of substation operation and maintenance.

[0069] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0070] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A substation intelligent inspection system, characterized in that: include: Collection module: The inspection robot collects equipment operation data of the substation based on the preset inspection path; Acquisition module: obtains historical operation reports of substations and collects real-time environmental data of substations; Communication module: transmits the collected equipment operation data and acquired real-time environmental data to the system center; Analysis module: The system center analyzes equipment operation data and real-time environmental data and generates real-time operation reports; Early warning module: The system center issues early warning information based on real-time operation reports, and maintenance personnel inspect or repair the substation based on the early warning information.

2. A substation intelligent inspection system according to claim 1, characterized in that: The acquisition module comprises: Inspection sequence unit: determines the equipment inspection sequence based on the equipment association data of the substation, wherein the equipment association data of the substation includes the association relationship between each equipment of the substation and all other equipment; Preset inspection path unit: determines the preset inspection path of the inspection robot based on the equipment inspection sequence and the equipment distribution of the substation; Control unit: The system center controls the inspection robot to travel along the preset inspection path; Sub-operation data unit: The inspection robot is equipped with a variety of sensors to collect sub-operation data of each device in the substation along the preset inspection path; Equipment operation data unit: determines the equipment operation data of the substation based on the sub-operation data of all equipment in the substation and the equipment inspection sequence.

3. A substation intelligent inspection system according to claim 2, characterized in that: The control unit comprises: Preset deviation path length subunit: determines the preset deviation path length based on the preset inspection path and the equipment distribution of the substation; The designated time period subunit is used to determine the designated time period of the inspection robot based on the driving speed of the inspection robot and the preset deviation path length; Actual deviation path length subunit: The system center compares the actual driving path of the inspection robot with the preset inspection path at every specified time period, and determines whether there is an actual deviation path based on the comparison result. If there is an actual deviation path, the actual deviation path length is determined; Judgment subunit: If the inspection robot does not actually deviate from the path, the system center controls the inspection robot to continue to drive along the preset inspection path; If the inspection robot actually deviates from the path, and the actual deviation path length is not greater than the preset deviation path length, the system center adjusts the driving angle of the inspection robot and continues to drive along the preset inspection path; If the inspection robot actually deviates from the path, and the actual deviation path length is greater than the preset deviation path length, the system center controls the inspection robot to first return to the preset inspection path, and then continue to drive along the preset inspection path.

4. The intelligent inspection system for substations according to claim 1, characterized in that: The acquisition module comprises: Real-time sub-environment data unit: The substation is equipped with a variety of environmental detection sensors, and the real-time sub-environment data of the substation is collected in real time based on each environmental detection sensor; Real-time environment data unit: determines real-time environment data based on real-time sub-environment data of all kinds of environment detection sensors.

5. The intelligent inspection system for substations according to claim 1, characterized in that: The analysis module comprises: Preprocessing unit: preprocessing the sub-operation data of each device in the device operation data to obtain the preprocessed device operation data, and at the same time, preprocessing the real-time sub-environmental data of each environment detection sensor in the real-time environment data; A first operation vector unit: determining a first operation vector of each device based on the preprocessed sub-operation data of each device, and determining a first operation vector dimension of each device; A vector dimension threshold unit: determining a vector dimension threshold based on the first running vector dimensions of all devices; The second operation vector unit: compares the first vector dimension of each device with the vector dimension threshold, upgrades the dimension of the device corresponding to the first operation vector whose first operation vector dimension is smaller than the vector dimension threshold, and determines the second operation vector of the device corresponding to the first operation vector whose first operation vector dimension is smaller than the vector dimension threshold; Performing dimensionality reduction on a device corresponding to a first operation vector whose first operation vector dimension is greater than a vector dimension threshold, and determining a second operation vector of the device corresponding to the first operation vector whose first operation vector dimension is greater than the vector dimension threshold; An operation fault value unit: determining an operation fault value of each device based on the second operation vectors of all devices; Environmental fitting value unit: analyzing the real-time sub-environmental data of each sensor in the pre-processed real-time environmental data, and determining the environmental fitting value of each sensor; Predicted fault value unit: determines the predicted fault value of each device based on the operating fault value of each device and the environmental fitting values ​​of all types of sensors; Real-time operation report unit: Generates real-time operation reports based on pre-processed equipment operation data and predicted fault values ​​of all equipment.

6. A substation intelligent inspection system according to claim 5, characterized in that: The operation fault value unit comprises: in, represents the first sub-operation fault value of the i-th device, represents the running value of the kth dimension of the second running vector of the i-th device, represents the running value of the nth dimension of the second running vector of the i-th device, A relationship function between the operating value of the kth dimension and the operating value of the nth dimension of the second operating vector of the i-th device, represents the first weight of the running value of the k-th dimension of the second running vector, represents the second weight between the running value of the kth dimension and the running value of the nth dimension of the second running vector, N1 represents the vector dimension threshold, represents the second sub-operation fault value of the i-th device, represents the interaction weight between the i-th device and the j-th device, represents the interaction weight between the jth device and the pth device, represents the first sub-operation fault value of the j-th device, represents the first sub-operation fault value of the p-th device, iN2 represents the number of devices that have a direct fault impact on the i-th device, represents the number of devices that have an indirect fault impact on the ith device through the jth device, represents the direct fault value of the jth device causing the ith device, It indicates the first indirect fault value of the pth device indirectly causing the ith device through the jth device. represents the adjustment parameters, represents the second indirect fault value of the i-th device, represents the operating fault value of the i-th device, represents the weight based on the first sub-run fault value, represents the weight based on the fault value of the second sub-run, represents a weight based on both the first sub-run fault value and the second sub-run fault value.

7. The intelligent inspection system for substations according to claim 5, characterized in that: The predicted fault value unit comprises: Environmental threshold subunit: determines the first environmental threshold and the second environmental threshold based on the historical operation report of the substation; Predicted fault value subunit: determines the predicted fault value of each device based on the operating fault value of each device, the environmental fitting values ​​of all types of sensors, the first environmental threshold and the second environmental threshold; in, represents the predicted failure value of the i-th device, represents the impact factor of the environmental fitting value of the mth sensor on the i-th device, represents the environmental fitting value of the i-th sensor, N3 represents the number of types of environmental sensors, represents the first environmental threshold, Indicates the second environmental threshold.

8. The intelligent inspection system for substations according to claim 1, characterized in that: The early warning module comprises: Threshold unit: determining a first fault threshold, a second fault threshold, a third fault threshold and a warning quantity threshold based on a historical operation report of the substation; Early warning information includes primary warning and warning information, intermediate alarm and warning information, and advanced alarm and emergency plan; Early warning unit: no early warning is issued for devices whose predicted fault values ​​in the real-time operation report are lower than the first fault threshold, a primary warning is issued for devices whose predicted fault values ​​in the real-time operation report are between the first fault threshold and the second fault threshold, an intermediate alarm is issued for devices whose predicted fault values ​​in the real-time operation report are between the second fault threshold and the third fault threshold, and an advanced alarm is issued for devices whose predicted fault values ​​in the real-time operation report are higher than the third fault threshold; Maintenance unit: When the number of primary warnings issued by the system exceeds the warning number threshold, maintenance personnel will perform maintenance on all devices that issue primary warnings based on all warning information; Maintenance unit: When the system issues an intermediate alarm, maintenance personnel will repair the equipment that issued the alarm in the substation based on the early warning information; Emergency maintenance unit: When the system issues a high-level alarm, maintenance personnel will perform emergency maintenance on the equipment that has issued the alarm in the substation based on the emergency plan.

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